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m3_collision_checking_fcl package from benchmarks repo

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Package Summary

Tags No category tags.
Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Benchmarking suite to evaluate 🤖 robotics computing performance. Vendor-neutral. ⚪Grey-box and ⚫Black-box approaches.
Checkout URI https://github.com/robotperf/benchmarks.git
VCS Type git
VCS Version main
Last Updated 2024-07-10
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags benchmarking performance acceleration cpu fpga robotics gpu ros2 tpu
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A meta computational graph that uses [moveit2](https://github.com/ros-planning/moveit2) to compute collision checking with the [FCL](https://github.com/flexible-collision-library/fcl) library between a UFACTORY xArm6 manipulator and a cube-shaped collision object. Used to demonstrate a complex tranformation using the [geometry2](https://github.com/ros2/geometry2) package.

Additional Links

No additional links.

Maintainers

  • Alejandra Martínez Fariña

Authors

  • Alejandra Martínez Fariña
benchmarks/meta/m3_collision_checking_fcl/README.md

m3_collision_checking_fcl

Meta computational graph composed by collision checking between xArm6 and a box using FCL library.

ID

m3

Description

A meta computational graph that uses moveit2 to compute collision checking with the FCL library between a UFACTORY xArm6 manipulator and a cube-shaped collision object. Used to demonstrate a complex tranformation using the geometry2 package.

Reproduction Steps

Refer to https://github.com/robotperf/benchmarks/tree/main/benchmarks/manipulation/d2_collision_checking_fcl and review the launch files to reproduce this package.

Results

Type Hardware Metric Value Category Timestamp Note Data Source
:white_circle: Intel i7-12700H (ROBOTCORE Transforms) latency 0.0407 workstation 31-08-2023 mean 0.0075 ms, RMS 0.0090 ms, max 0.0407 ms, min 0.0034 ms simulation
:white_circle: Intel i7-12700H latency 0.5183 workstation 31-08-2023 mean 0.0248 ms, RMS 0.0650 ms, max 0.5183 ms, min 0.0053 ms simulation
:white_circle: Intel i7-8700K latency 0.1739 workstation 08-09-2023 ✋mean_benchmark 0.0179, rms_benchmark 0.0285, max_benchmark 0.1739, min_benchmark 0.0023, lost messages 0.00 % simulation
:white_circle: Intel i7-8700K power 13.846317291259766 workstation 08-09-2023 ✋ simulation
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged m3_collision_checking_fcl at Robotics Stack Exchange

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